/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016 Omron Adept Technologies, Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "Aria.h"
#include "ArNetworking.h"

void sendEmpty(ArServerClient *client, ArNetPacket *packet)
{
  ArNetPacket sendingPacket;
  sendingPacket.byteToBuf(0);
  client->sendPacketTcp(&sendingPacket);
}

int main(int argc, char **argv)
{
  Aria::init();
  ArServerBase server;
  ArGlobalFunctor2<ArServerClient *, ArNetPacket *> sendEmptyCB(&sendEmpty);
  if (!server.open(7272))
  {
    printf("Could not open server port\n");
    exit(1);
  }

  ArServerInfoDrawings drawing(&server);

  ArDrawingData arrows("polyarrow", ArColor(0, 0, 255), 5, 50);
  ArDrawingData dots("polydots", ArColor(0, 255, 0), 12, 50);
  drawing.addDrawing(&arrows, "arrows", &sendEmptyCB);
  drawing.addDrawing(&dots, "dots", &sendEmptyCB);
  server.run();

}
